Configuring robot_localization for loss of sensor data
I am working on an outdoor mobile robot which should be able to localize itself using GPS, IMU and wheel encoder data. The GPS I am using is very precise and because of this I only use that for the (x, y) pose estimate at the moment by use of robot_localizations navsat_transform_node. However, ideally the robot should also be able to localize itself in areas where GPS reception is bad or non-existing for which reason I would like to use the odometry of the robot in such scenarios. How can the ekf_node of robot_localization be configured for such an application where odometry should only be used in the (x, y) pose estimate when the GPS is insufficient. Is it done through covariances, sensor_timeouts, thresholds or something else?
I asked a similar question a couple years ago. Solving it is still on my To Do list. https://answers.ros.org/question/3029...